JP2022017732A - Device for creating robot motion program and method for improving robot motion program - Google Patents

Abstract

To provide a technology for assisting workers without specialized knowledge or experience in creating or adjusting a robot motion program so that they can actually increase the efficiency of their work.SOLUTION: A device for creating a robot motion program comprises: an acceptance unit for accepting a motion program which includes at least one command and describes work to be performed by a robot; a storage unit for storing some commands that affect the time required for execution of the motion program out of a plurality of commands that can be executed by the robot; and a detection unit for detecting a command that matches the command stored by the storage unit out of the accepted motion programs.SELECTED DRAWING: Figure 6

Description

The present disclosure relates to a device for creating a robot motion program and a method for improving the robot motion program.

Conventionally, there are technologies that support the development of programs for industrial controllers. In Patent Document 1, in the synchronous control of a plurality of servomotors, the rotation speed of the master encoder attached to the master shaft that determines the timing is determined by the following processing. First, candidates for the rotation speed of the master encoder are extracted. Then, for each candidate, it is checked whether or not the constraint is violated when the control program is executed at the rotation speed. For example, when the control program is executed at that rotation speed, it is checked whether the compression process is performed for a specified time. All candidates are checked, the fastest rotation speed that does not violate the constraints is identified and shown to the device developer. As a result, the rotation speed of the master encoder of the master axis capable of increasing the production amount can be obtained.

Japanese Unexamined Patent Publication No. 2014-222378

However, if the rotation speed of the servo motor is increased to cause the robot to perform an operation, the residual vibration of the robot arm becomes large. As a result, the position accuracy of the control points of the robot may decrease, or the robot arm or end effector may interfere with other structures. In addition, the work object held by the end effector may fall. Therefore, even if the technique of Patent Document 1 is applied to a robot, it is not always possible to actually produce the robot with the determined control contents. In order to improve the efficiency of the work of the robot, the worker who creates the operation program of the robot adjusts the operation program while actually checking the operation of the robot. Currently, such coordination requires expertise and experience. There is a need for technology that helps workers without specialized knowledge and experience to actually improve the efficiency of their work when generating or adjusting robot motion programs.

According to one embodiment of the present disclosure, a device for creating a robot motion program is provided. This robot operation program creation device includes one or more commands, and is required to execute the operation program among the reception unit that receives the operation program that describes the work to be executed by the robot and the plurality of commands that can be executed by the robot. It includes a storage unit that stores some commands that affect time, and a detection unit that detects a command that matches the command stored in the storage unit from among the received operation programs.

It is explanatory drawing which shows typically the robot system 1 of this embodiment. It is a figure which shows the interface screen DI of the integrated development environment for generating the operation program which instructes the operation of a robot 100. It is a flowchart which shows the process at the time of generating the operation program using the interface screen DI. It is a figure which shows the example of the display which shows the operation program of the edit screen De02. It is a figure which shows the other example of the display which shows the operation program of the edit screen De02. It is a figure which shows the example of the display which shows the operation program of the edit screen De02. It is a figure which shows the other example of the display which shows the operation program of the edit screen De02. It is a figure which shows the example of the program list after the improvement plan is reflected in the edit screen De02. It is a figure which shows the work Op1, Op2 in the program list Dp09, and the target time Drt1, Drt2 of each work. It is a figure which shows the program list Dp10 of the operation program executed in the robot control device 300 of a robot 100. It is a figure which shows the display of the past correction history. In the third embodiment, it is a display showing the execution time shown in step S600.

A. First Embodiment:
A1. Robot system configuration:
FIG. 1 is an explanatory diagram schematically showing the robot system 1 of the present embodiment. The robot system 1 of the present embodiment includes a robot 100, an end effector 200, a camera 700, and a setting device 600.

The robot 100 is a 4-axis robot having a robot control device 300 and an arm 110 having four joints J1 to J4. The joints J1, J2 and J4 are torsion joints. The joint J3 is a linear motion joint. The joints that make up the arm 110 and the components between the joints are referred to herein as "arm elements." In FIG. 1, among a plurality of arm elements included in the arm 110, the arm element 110a between the joint J1 and the joint J2, the arm element 110b between the joint J2 and the joint J3, and the arm constituting the tip of the arm 110. The elements 110d are indicated by reference numerals.

The robot 100 has designated the end effector 200 attached to the tip of the arm 110 at a designated position in the three-dimensional space by rotating or rotating the four joints J1 to J4 with a servomotor, respectively. It can be arranged in a posture. A point representing the position of the end effector 200 in the three-dimensional space is also referred to as a "control point" or TCP (Tool Center Point).

The robot 100 includes a servomotor 410, a speed reducer 510, and a motor angle sensor 420 at each joint. FIG. 1 schematically shows a servomotor 410, a speed reducer 510, and a motor angle sensor 420 only for the joint J1 in order to facilitate the understanding of the technique.

The servo motor 410 is supplied with an electric current from the robot control device 300 to generate a driving force. More specifically, the servomotor 410 is supplied with a current from the robot control device 300 to rotate its output shaft 410o.

The motor angle sensor 420 detects the angle position Pm of the output shaft 410o of the servo motor 410. The motor angle sensor 420 is a rotary encoder. The angle position Pm of the output shaft 410o detected by the motor angle sensor 420 is transmitted to the robot control device 300.

The speed reducer 510 includes an input shaft 510i and an output shaft 510o. The speed reducer 510 converts the rotation input for the input shaft 510i into a rotation output having a rotation speed lower than that of the rotation input, and outputs the rotation input from the output shaft 510o. The input shaft 510i of the speed reducer 510 is connected to the output shaft 410o of the servomotor 410.

The arm element 110a is fixed to the output shaft 510o of the speed reducer 510 of the joint J1. As a result, the arm element 110a is rotated at the joint J1 via the speed reducer 510 by the rotation of the output shaft 410o of the servomotor 410.

The robot control device 300 is a control device that controls the arm 110 and the end effector 200. The robot control device 300 is housed in the housing of the robot 100. The robot control device 300 includes a computer including a CPU (Central Processing Unit) 310 which is a processor, a RAM (Random Access Memory) 330, and a ROM (Read Only Memory) 340. The CPU 310 realizes various functions by loading and executing a computer program stored in the ROM 340 into the RAM 330.

The end effector 200 is attached to the tip of the arm 110. The end effector 200 can be controlled by the robot control device 300 to grab the workpiece W01 and release the gripped workpiece W01. As a result, for example, the arm 110 and the end effector 200 of the robot 100 can be controlled by the robot control device 300 to grab and move the workpiece W01 which is a work object. In FIG. 1, the end effector 200 is shown by a simple cylinder in order to facilitate the understanding of the technique.

The camera 700 can capture a photographic image including the workpiece W01, the periphery of the workpiece W01, and the arm 110. The image generated by the camera 700 is transmitted to the robot control device 300 and used for controlling the robot 100.

The setting device 600 generates an operation program that defines the operation of the robot 100. The setting device 600 is a computer including a display 602 that functions as an output device, and a keyboard 604 and a mouse 605 that function as input devices. The setting device 600 further includes a CPU 610, a RAM 630, and a ROM 640, which are processors. The CPU 610 realizes various functions described later by loading and executing a computer program stored in the ROM 640 into the RAM 630.

The setting device 600 is connected to the robot control device 300. The operation program generated by the setting device 600 is transmitted to the robot control device 300. The robot control device 300 operates the robot 100 according to the operation program received from the setting device 600.

A2. Commands that affect the time it takes to execute a running program:
The operation program of the robot 100 includes one or more commands. The operation program of the robot 100 describes the work performed by the robot by these commands. The RAM 630 of the setting device 600 stores a part of the commands Ct1 that affect the time required to execute the operation program among the plurality of commands that can be executed by the robot 100. The RAM 630 further stores a combination Ct2 that is a combination of two or more commands among a plurality of commands that can be executed by the robot 100 and that affects the time required to execute the operation program. These one or more commands stored in the RAM 630 are collectively referred to as command Cts.

The RAM 630 of the setting device 600 stores the following commands or a combination of commands as one or more command Cts that affect the time required to execute the operation program.

(A) Speed: An upper limit of the moving speed of the control point is set. The parameter described after the Speed command indicates the upper limit of the movement speed.

The speed of movement of a control point affects the time it takes for a control point to move between one point and another. Therefore, the Speed command is stored in the RAM 630 as a command Ct1 that affects the time required to execute the operation program.

(B) Accel: The upper limit of acceleration and the upper limit of deceleration of the control point are set. "Deceleration" is a negative acceleration. The first parameter described following the Accel command represents the upper limit of acceleration, and the second parameter represents the upper limit of deceleration.

The acceleration and deceleration of a control point affect the speed of movement of the control point and thus the time it takes for the control point to move between one point and another. Therefore, the Accel command is stored in the RAM 630 as a command Ct1 that affects the time required to execute the operation program.

(C) Go: Move the control point linearly to the target point. The parameters described following the Go command represent the target point.
The RAM 630 stores a combination of a plurality of consecutive Go commands as a combination of commands that affects the time required to execute the operation program.

In many cases, a combination of multiple consecutive Go commands is a relay point with one or more control points in order to avoid a certain point and move the control point when moving the control point to the final target point. It is set to pass through. Therefore, by setting the target point other than the final target point, that is, the target point of the Go command that specifies the movement to the relay point more appropriately, the control from the starting point to the final target point is performed. In some cases, the time required to move a point can be shortened. Therefore, the combination of a plurality of consecutive Go commands is stored in the RAM 630 as a combination of commands Ct2 that affects the time required to execute the operation program.

(D) Wait: The operation of the robot 100 is stopped for a specified time. The parameter described following the Wait command represents the time for stopping the operation of the robot 100. For example, the Wait command is placed after the command of the operation in which residual vibration is expected to occur.
Vrun: Workpiece W01 by enlarging, reducing and rotating a 3D figure based on CAD (Computer-Aided Design) data representing the workpiece W01 and matching it with the 3D image acquired by the camera 700. Detects the position and posture of.

Since the Vrun command enlarges, reduces, rotates, and matches a three-dimensional figure, the processing load of the CPU 610 is larger than that of other Accel commands, Go commands, and the like. Therefore, the operation of the robot 100 is stopped until the processing of the Vrun command is completed. As a result, there is a possibility that the time specified that the robot 100 should be stopped by the Wait command adjacent to the Vrun command may elapse while the operation of the robot 100 is stopped by executing the Vrun command. In such a case, the time required to execute the operation program can be shortened by deleting the Wait command from the operation program. Therefore, the combination of the continuous Wait command and the Vrun command is stored in the RAM 630 as a combination of commands Ct2 that affects the time required to execute the operation program. It should be noted that both the mode in which the Wait command is first and the Vrun command is later and the mode in which the Vrun command is first and the Wait command is later are stored in the RAM 630.

A3. Generation of operation program:
(1) Processing when generating an operation program using the interface screen DI:
FIG. 2 is a diagram showing an interface screen DI of an integrated development environment (IDE) for generating an operation program instructing the operation of the robot 100. The interface screen DI includes a simulation screen Ds, an edit screen De02, and a program execution button Be.

The edit screen De02 is an interface for generating an operation program expressed in the form of a program list expressed in a programming language. The user generates an operation program in the form of a program list on the edit screen De02 by using the keyboard 604 and the mouse 605 as input devices. The user can use the keyboard 604 and mouse 605 to generate the program list from scratch. The user can also generate a new program list by reading the program list stored in the RAM 630 or ROM 640 into the IDE and modifying the program list using the keyboard 604 and the mouse 605.

The simulation screen Ds is a screen for showing a moving image of the operation of the robot 100 when a part or all of the operation program generated by the editing screen De02 is executed. The simulation screen Ds includes a simulation execution button Bs.

When the simulation execution button Bs is pressed, the operation of the robot 100 when a part or all of the operation program generated by the edit screen De02 is executed on the simulation screen Ds is shown by a moving image. When a part of the program list is specified on the edit screen De02 and the simulation execution button Bs is pressed, only the specified part of the program list is executed on the simulation screen Ds. When the simulation execution button Bs is pressed without specifying a part of the program list on the edit screen De02, the entire program list is executed on the simulation screen Ds.

However, the physical behavior of the robot 100 that does not follow the movement program is not reflected in the display of the robot 100 on the simulation screen Ds. The physical behavior of the robot 100 that does not follow the motion program includes residual vibration due to the inertia of each part of the robot 100.

The program execution button Be is a button for causing the robot 100 to actually execute a part or all of the operation program generated by the edit screen De02. When a part of the program list is specified on the edit screen De02 and the program execution button Be is pressed, only the specified part of the program list is executed by the robot 100. When the program execution button Be is pressed without specifying a part of the program list on the edit screen De02, the entire program list is executed by the robot 100.

For example, the operator causes the robot 100 to actually execute a part or all of the motion program in order to confirm the behavior of the physical robot 100 that does not follow the motion program.

FIG. 3 is a flowchart showing a process when an operation program is generated using the interface screen DI. By the process of FIG. 3, the method of improving the operation program of the robot is executed. Specifically, the process of FIG. 3 is executed by the CPU 610 of the setting device 600.

In step S100, the CPU 610 receives an operation program from the configuration of one or more of the keyboard 604 and the mouse 605, and the RAM 630 and the ROM 640. The functional unit of the CPU 610 that realizes the processing of step S100 is shown in FIG. 1 as a “reception unit 611”.

In step S200, the CPU 610 detects a command that matches the command Ct1 stored in the RAM 630 as a command that affects the time required to execute the operation program from the operation program. Further, the CPU 610 detects two or more commands constituting the combination Ct2 of the commands stored in the RAM 630 and two or more matching commands from the operation program. The command combination Ct2 stored in the RAM 630 is a command combination that affects the time required to execute the operation program. The functional unit of the CPU 610 that realizes the processing of step S200 is shown in FIG. 1 as a “detection unit 612”.

In step S300, the CPU 610 highlights and displays the detected command in the display showing the operation program of the edit screen De02.

FIG. 4 is a diagram showing an example of a display showing an operation program of the edit screen De02. The program list Dp04 displayed on the edit screen De02 includes the Speed command (see the middle section of FIG. 4). In step S200 of FIG. 3, a Speed command that matches the command Ct1 stored in the RAM 630 is detected from the program list Dp04. In step S300, the detected Speed command is highlighted and displayed in the display representing the program list Dp04 on the edit screen De02. Specifically, the Speed command has a different background color than the undetected command. The display of the Accel command highlighted in FIG. 4 is shown as the command display Cd041.

The program list Dp04 displayed on the edit screen De02 further includes an Accel command (see the middle section of FIG. 4). In step S200 of FIG. 3, an Accel command that matches the command Ct1 stored in the RAM 630 is detected from the program list Dp04. In step S300, the detected Accel command is highlighted and displayed in the display representing the program list Dp04 on the edit screen De02, as in the case of the Speed command. The display of the Accel command highlighted in FIG. 4 is shown as the command display Cd042.

The program list Dp04 displayed on the edit screen De02 further includes a combination of three consecutive Go commands (see the lower part of FIG. 4). In step S200 of FIG. 3, consecutive Go command combinations that match the command combination Ct2 stored in the RAM 630 are detected from the program list Dp04. In step S300, the combination of three consecutive Go commands detected is highlighted and displayed in the display representing the program list Dp04 on the edit screen De02. Specifically, a combination of three consecutive Go commands is given a different background color than the undetected commands. The display of consecutive Go command combinations highlighted in FIG. 4 is shown as command display Cd043. In the example of FIG. 4, P0 indicates the final target point of the control point, and P1 and P2 indicate the relay points to be passed through the control point.

FIG. 5 is a diagram showing another example of the display showing the operation program of the edit screen De02. The program list Dp05 displayed on the edit screen De02 includes a combination of consecutive Wait commands and Vrun commands. In the program list, the sentences below the single quotation "'" are comment sentences that do not function as a program. In the example of FIG. 5, the "Vision start command" is a comment statement.

In step S200 of FIG. 3, a continuous Wait command and Vrun command combination that matches the command combination Ct2 stored in the RAM 630 is detected from the program list Dp05. In step S300, in the display representing the program list Dp05 on the edit screen De02, the detected combination of the consecutive Wait command and the Vrun command is highlighted and displayed in the same manner as the combination of the three consecutive Go commands in FIG. Will be done. The display of the combination of the continuous Wait command and the Vrun command highlighted in FIG. 5 is shown as the command display Cd053.

The command display Cd051 in FIG. 5 has the same display as the command display Cd041 in FIG. The command display Cd052 in FIG. 5 has the same display as the command display Cd042 in FIG.

The functional unit of the CPU 610 that realizes the process of step S300 in FIG. 3 is shown in FIG. 1 as a “highlighting unit 613”.

By performing the processes of steps S200 and S300 in FIG. 3, it is possible to detect commands and combinations of commands that affect the time required to execute the operation program from the received operation programs. Therefore, when the operator who creates the operation program of the robot 100 generates or adjusts the operation program, the operator is notified of the existence of such a command and a combination of commands through the IDE edit screen De02. In order to actually improve the work efficiency of the robot 100, it is possible to support the worker to generate an operation program.

Further, the detected command is highlighted in the display showing the operation program of the edit screen De02. Therefore, when the operator generates or adjusts the operation program, the location of the command in the operation program that affects the time required to execute the operation program can be presented to the operator. As a result, the operator can easily generate or adjust an operation program so that the work efficiency of the robot can be improved.

In step S350 of FIG. 3, the CPU 610 determines whether or not the cursor is on the detected and emphasized command display on the edit screen De02. If the cursor is not over the display of the detected and highlighted command, the process proceeds to step S550. If the cursor is over the display of the detected and highlighted command, the process proceeds to step S400.

In step S400, the CPU 610 associates the detected command with a display prompting improvement regarding the detected command in the display representing the operation program.

FIG. 6 is a diagram showing an example of a display showing an operation program of the edit screen De02. In the example of FIG. 6, the cursor is above the command display Cd042 of the detected and highlighted Accel command. In such a case, the display S01 prompting improvement regarding the detected Accel command is shown in association with the detected Accel command. Specifically, in the balloon that indicates the display of the Accel command, a message with the text information "TAT may be improved by adjusting the Speed and Accel parameters" is displayed with a mark indicating a hint. Will be done. This message is associated with the Accel command and stored in the RAM 630 in advance.

FIG. 7 is a diagram showing another example of the display showing the operation program of the edit screen De02. In the example of FIG. 7, the cursor is above the command display Cd053, which is a combination of the Detected and highlighted Wait command and the Vrun command. In such a case, a display S02 prompting improvement regarding the combination of the detected Wait command and the Vrun command is shown in association with the combination of the detected Wait command and the Vrun command. Specifically, in the balloon that indicates the display of the combination of the Wait command and the Vrun command, "The Vrun command takes a long time to process, so deleting the previous Wait command may improve the TAT. A message with the text information "" is displayed with a mark indicating a hint. This message is associated with the combination of the Vrun command and the Wait command and is stored in the RAM 630 in advance.

By performing such processing, when the worker who creates the movement program of the robot 100 generates or adjusts the movement program, the worker can enjoy the following benefits. That is, the operator can generate or adjust the operation program for some commands that affect the time required to execute the operation program based on the displays S01 and S02 prompting improvement.

FIG. 1 shows a functional unit of the CPU 610 that realizes a process of associating a display prompting improvement with respect to the detected command with the detected command as an “improvement suggestion unit 614”.

In the example of FIG. 7, further, in the display showing the operation program, the improvement plan Si regarding the detected command is displayed in association with the display of the combination of the detected Wait command and the Vrun command. Specifically, in the balloon that indicates the display of the combination of the Wait command and the Vrun command, the improvement plan "Wait 0.5 (line feed) Vrun'Vision start command-> Vrun'Vision start command" is displayed with a mark indicating a hint. To. In this improvement plan Si, the Wait command is deleted from the combination of the continuous Wait command and the Vrun command.

By performing such processing, when the worker who creates the movement program of the robot 100 generates or adjusts the movement program, the worker can enjoy the following benefits. That is, the operator can easily improve the operation program for the command that affects the time required to execute the operation program based on the display of the improvement plan Si.

In the example of FIG. 7, the improvement plan Si regarding the detected command is displayed in a mode different from the command display Cd053 of the detected command. Specifically, the improvement plan Si is displayed in the balloon together with the display S02 prompting the improvement.

By performing such processing, the operator can improve the operation program without confusing the detected command with the improvement plan Si.

The functional unit of the CPU 610 that realizes the process of step S400 in FIG. 3 is shown in FIG. 1 as an “improvement plan presentation unit 615”.

By left-clicking the mouse 605 on the improvement plan Si on the editing screen De02, the operator can give an instruction to the CPU 610 that the improvement plan Si should be reflected in the displayed operation program.

In step S450 of FIG. 3, the CPU 610 determines on the edit screen De02 whether or not an instruction to reflect the improvement plan Si in the operation program has been given. If a predetermined time has elapsed without being instructed to reflect the improvement plan Si in the operation program, the process proceeds to step S550. If the operation program is instructed to reflect the improvement plan Si within a predetermined time, the process proceeds to step S500.

In step S500, the CPU 610 reflects the improvement plan Si in the operation program.

FIG. 8 is a diagram showing an example of a program list after reflecting the improvement plan on the edit screen De02. In the example of FIG. 8, the improvement plan Si of FIG. 7 is reflected in the program list Dp08 representing the operation program. Then, the difference between the operation program before the reflection of the improvement plan Si and the operation program after the reflection of the improvement plan Si is displayed in the comment sentence Hs10 together with the annotation. Specifically, on the Vrun command, as a comment, the comment "The following code has been replaced" and the difference between the operation program before the reflection of the improvement plan Si and the operation program after the reflection of the improvement plan Si. There is a deleted "Wait 0.5" listed.

The command display Cd081 in FIG. 8 has the same display as the command display Cd051 in FIG. The command display Cd082 in FIG. 8 has the same display as the command display Cd052 in FIG.

By performing such a process, the worker can obtain the following benefits. That is, the operator can easily improve the operation program for the command that affects the time required to execute the operation program by reflecting the displayed improvement plan Si in the operation program. Further, by comparing with the past description of the improved part of the operation program, the operation program can be improved in consideration of the history of the past improvement.

In step S550 of FIG. 3, the CPU 610 determines whether or not the program execution button Be has been clicked on the interface screen DI. When the program execution button Be is clicked, it means that the execution of the operation program displayed on the edit screen De02 is instructed. If the program execution button Be is not clicked, the process proceeds to step S650. When the program execution button Be is clicked, the process proceeds to step S600.

In step S600, the CPU 610 actually causes the robot 100 to execute the operation program displayed on the edit screen De02, and shows the display based on the execution time for each work on the interface screen DI of the IDE. In the following, a case where the program execution button Be is pressed and the entire program list is executed without specifying a part of the program list will be described as an example.

FIG. 9 is a diagram showing the work Op1 and Op2 in the program list Dp09 and the description Drt1 and Drt2 that specify the target time of each work specified in the program list Dp09. The worker can describe the target time for each work at the beginning of the program list. The target time can be determined, for example, based on the relationship between the process of the operation program to be edited and the processes before and after the process. The target time can also be a predetermined standard time. The target time can also be set based on the experience of the worker.

The reception unit 611 as a functional unit of the CPU 610 receives the target value of the time required for the work by describing the target time at the beginning of the program list. In the example of FIG. 9, the target time for work 1 is specified by the description Drt1 at the beginning of the program list Dp09. The target time for work 1 is 5 seconds. The target time for work 2 is specified by the description Drt2. The target time for work 2 is 2 seconds.

The worker can specify the start point of one "work" in the program list by describing "work N" (N is an integer) in the comment text in the program list. The part from "work N" to the next "work M" (M is an integer) in the program list is a part corresponding to one "work". Normally, "work N" and "work M" are numbered in order. However, the numbers of "work N" and "work M" can be arbitrarily assigned. Before the execution of the operation program, Ddt1 and Ddt2 in FIG. 9 are not displayed.

When the robot 100 executes the operation program, the CPU 610 acquires the execution time of the work Op1 and Op2 included in the operation program.

FIG. 10 is a diagram showing a program list Dp10 of an operation program executed by the robot control device 300 of the robot 100. When the program execution button Be is pressed in step S550, the CPU 610 of the setting device 600 adds a combination of the Set Clock command and the End Clock command to the program list Dp09. Specifically, the Set Clock command is added immediately after each "work" comment statement, and the End Clock command is added immediately before each "work" comment statement. However, the End Clock command is not added immediately before the first "work" comment, and the Set Clock command is not added immediately after the last "work" comment. The program list Dp10 to which the Set Clock command and the End Clock command are added is shown in FIG.

The Set Clock command is a command to start measuring time. The End Clock command is a command to end the time measurement. By executing these commands, the execution time for each work is measured. Specifically, the execution time of the portion of the program list Dp10 from the comment statement "work 1" to the comment statement "work 2" is measured by the Set Clock command Cs1 and the End Clock command Ce1. The execution time of the part below the comment sentence "work 2" is measured by the Set Clock command Cs2 and the End Clock command Ce2. The Set Clock command and the End Clock command inserted into the program list in step S600 are not displayed on the edit screen De02.

After executing the operation program by the robot 100, the CPU 610 of the setting device 600 shows the display Ddt1 and Ddt2 based on the target value and the execution time for each work Op1 and Op2 in the program list of the edit screen De02. Specifically, in the program list Dp09 displayed on the edit screen De02, the display of the difference in the execution time with respect to the target value is shown in association with each work. In the example of FIG. 9, the difference display Ddt1 is shown for the operation 1. For work 1, the time difference between the execution times and the target values is 8.24 seconds. For work 2, the difference display Ddt2 is shown. For work 2, the time difference between the execution times and the target values is 10.5 seconds.

By performing such a display, the worker can obtain the following benefits. That is, the worker can improve the operation program while recognizing the time to be shortened in order to achieve the target value by comparing the target value and the execution time. Specifically, the worker can obtain a guideline as to how much the processing time should be reduced for each work.

In step S600 of FIG. 3, a functional unit of the CPU 610 that acquires the execution time of the work included in the operation program and displays the work based on the target value and the execution time is shown in FIG. 1 as an “evaluation unit 616”. ..

In step S650, the CPU 610 determines whether or not an instruction to end the generation of the operation program has been input. If the instruction to end the generation of the operation program is not input, the process returns to S200. When the instruction to end the generation of the operation program is input, the process ends.

(2) Display timing that encourages improvement through the interface screen DI:
In the above description, the display prompting improvement and the like displayed on the interface screen DI of the integrated development environment in the state where one operation program is completed has been described (see FIGS. 4 to 9). That is, in the state where the reception unit 611 of the CPU 610 has received the entire operation program in step S100 of FIG. 3, the detection unit 612 of the CPU 610 has a command stored in the RAM 630 from the operation programs received in step S200. Detects two or more commands that match Ct1 or two or more commands that make up Ct2, which is a combination of commands. Then, in step S300, the improvement suggestion unit 614 of the CPU 610 displays the detected commands and the displays S01 and S02 prompting improvement regarding the command combination in the display representing the operation program in the state where the entire operation program is accepted. This is performed in association with the detected command or a combination of commands (see S400 in FIG. 3 and FIGS. 4 to 9).

In such processing, the command Ct1 that affects the time required to execute the operation program and the display prompting improvement regarding the command combination Ct2, which are detected from the entire operation program, are displayed on the display indicating the operation program. Will be. Therefore, the operator can improve the operation program so as to optimize the entire operation program by referring to the display.

For example, the Speed command can be used to specify the upper limit of movement speed, the Accel command can be used to specify the upper limit of acceleration at a control point, and the upper limit of deceleration can be specified for individual Go commands, prior to multiple Go commands. , Can also be done for multiple Go commands. Therefore, by grasping the location of the Speed command or Accel command detected from the entire operation program, the operator can use the Speed command or the Accel command so that the movement speed or acceleration of the control point is optimized for the entire operation program. Each of the Accel commands can be set.

On the other hand, in step S100 of FIG. 3, in a state where the reception unit 611 of the CPU 610 is a part of the operation program and receives a part including one or more commands, a part of the operation program received in step S200. The detection unit 612 of the CPU 610 can also detect the command Ct1 stored in the storage unit 630 and two or more commands that match the two or more commands constituting the command combination Ct2. Then, in step S300, the improvement suggestion unit 614 of the CPU 610 receives the detected command or the display S01, S02 prompting improvement in the display representing a part of the operation program in the state of accepting a part of the operation program. It can also be done in association with a combination of commands.

By such a process, the worker can proceed with the creation of the operation program while improving the operation program even during the creation of the operation program.

The setting device 600 in this embodiment is also referred to as a robot operation program creation device. The RAM 630 of the setting device 600 is also referred to as a "storage unit".

B. Second embodiment:
In the first embodiment, the difference between the operation program before the reflection of the improvement plan Si and the operation program after the reflection of the improvement plan Si is displayed as the comment sentence Hs10 together with the annotation (see FIGS. 7 and 8). When the same part in the program list has been corrected multiple times, the past correction history may be displayed in response to an instruction from the operator.

In the second embodiment, the CPU 610 is obtained by moving the cursor to the comment sentence Hs10 indicating the difference between the operation program before the reflection of the improvement plan Si and the operation program after the reflection of the improvement plan Si, and right-clicking the mouse 605. Is instructed to display the past revision history, and the past revision history is displayed on the interface screen DI. Other points of the second embodiment are the same as those of the first embodiment.

FIG. 11 is a diagram showing the display of the past correction history. In the example of FIG. 11, the comment statement indicating the difference between the operation program before the reflection of the improvement plan Si and the operation program after the reflection of the improvement plan Si is in the program list Dp11 representing the operation program after the reflection of the improvement plan Si. , Is highlighted. Specifically, the comment text Hs20 is given a background color different from that of other comment texts and commands. What is highlighted and displayed is the comment text corresponding to the right-clicked comment text Hs10 in the program list Dp08 of FIG.

In the example of FIG. 11, the past correction history of the description represented by the comment sentence Hs20 is displayed on the left side of the program list Dp11. From the display B01, it can be seen that Wait 0.5 was deleted at 18:00 today. From the display B02, Wait 0.4 is described before Wait 0.5, and it can be seen that Wait 0.4 was deleted at 17:42 today. If there is a past history, the contents are displayed together with the time. The user can return the description of the corresponding part of the program list to the content represented by the history by placing the cursor on the history display, left-clicking with the mouse 605, and instructing the CPU 610.

With such an embodiment, the operator can easily make trial and error in improving the operation program. For example, in step S600 of FIG. 3, when the execution result of the operation program is worse than that of the operation program before modification, the operation program can be easily returned to the state before modification by the above processing.

C. Third embodiment:
In the first embodiment, in step S600 of FIG. 3, in the program list Dp09 displayed on the edit screen De02, the difference between the execution time and the target time is shown in association with each work (Ddt1 of FIG. 9). , Ddt2). However, it is also possible to display based on the execution time so that the operator can intuitively grasp the result of the improvement of the operation program.

In the third embodiment, in step S600 of FIG. 3, the display in which the execution time of the operation program before the modification and the execution time of the operation program after the modification are compared is further displayed in the form of a bar graph. Other points of the third embodiment are the same as those of the first embodiment.

FIG. 12 is a display showing the execution time shown in step S600 of FIG. 3 in the third embodiment. In step S600 of FIG. 3, the evaluation unit 616 as a functional unit of the CPU 610 includes the execution time for each work included in the operation program executed in the process of this S600 and the operation program executed in the previous process of S600. A bar graph is created based on the execution time for each work included in, and is displayed on the interface screen DI of the IDE.

In the example of FIG. 12, the display Hg10 represents the execution time of the operation program executed in the previous process of S600. The display Hg 11 included in the display Hg 10 represents the execution time of the work 1 included in the operation program. The display Hg12 included in the display Hg10 represents the execution time of the work 2 included in the operation program. The display Hg13 included in the display Hg10 represents the execution time of the work 3 included in the operation program. The example shown in FIG. 12 is an example based on an operation program different from the operation program of the first embodiment.

The display Hg20 represents the execution time of the operation program executed in the process of S600 this time. The display Hg21 included in the display Hg20 represents the execution time of the work 1 included in the operation program. The display Hg22 included in the display Hg20 represents the execution time of the work 2 included in the operation program. The display Hg23 included in the display Hg20 represents the execution time of the work 3 included in the operation program.

In such an aspect, the operator can intuitively grasp the effect of shortening the execution time obtained as a result of the modification. In addition, the worker can intuitively grasp the work that occupies most of the execution time of the entire operation program. As a result, the worker can efficiently reduce the execution time of the entire operation program by reducing the execution time of the work.

D. Other embodiments:
D1. Other Embodiment 1:
(1) In the first embodiment, the Vrun command is cited as a command that requires time for processing, and the combination Ct2 with the command to be detected has been described. However, as a command that takes time to process, another command may be stored in the storage unit in combination with the Wait command. For example, in a robot that collaborates with other robots, a command that performs route planning that determines a route so as not to interfere with other robots is stored in the storage unit in combination with the Wait command as a command that takes time to process. It may have been done.

(2) In the first embodiment, the RAM 630 of the setting device 600 stores one or more command Cts that affect the time required to execute the operation program (see FIG. 1). However, one or more commands that affect the time required to execute the operation program are stored in the ROM 640 of the setting device 600, the RAM 330 of the robot control device 300, the ROM 340, and other storage media connected by a network. It may have been done.

(3) In the first embodiment, the command detected in step S200 of FIG. 3 is given a background color different from that of the command not detected in step S300 (see FIGS. 4 to 8). ). However, the detected commands may be highlighted in other ways. For example, the detected commands may be displayed in a different color than the undiscovered commands. Also, the detected commands may be displayed in thicker characters than the undetected commands. Further, the detected command may be marked with a mark not attached to the undetected command, a linear or wavy underline, and the like.

(4) In the first embodiment, the comment sentence "work N" described in the program list by the worker to the next comment sentence "work M" (M and N are integers) are one "work". Is specified as. However, each work included in the operation program may be specified by another method. For example, in a program list, a command A that is described with a certain amount of indentation is a command that is described with the same amount of indentation and is described first after command A. Up to such command B can be processed as one "work". Further, in the program list, by arranging a blank line between the works, the range corresponding to each work can be specified.

(5) In the first embodiment, the display Ddt1 and Ddt2 based on the target value and the execution time are displayed based on the measured value of the execution time of each work obtained by actually moving the robot 100 according to the operation program. (See FIG. 9). The bar graphs Hg10 and Hg20 of the third embodiment are displayed based on the measured values of the execution time of each work obtained by actually moving the robot 100 according to the operation program (see FIG. 12). However, the execution time of the work included in the operation program can also be obtained by other methods.

For example, the standard execution time and the maximum execution time can be stored in the storage unit for each command, and the execution time of the work can be obtained by adding them. It is also possible to simulate the operation of the robot 100 on a computer and measure the execution time for each work by a simulator that can reflect the physical behavior of the robot 100. Further, the work execution time measured by moving the actual robot 100, the work execution time obtained by the simulation, and the work execution time calculated based on the execution time for each command prepared in advance, It is also possible to acquire the execution time of each work included in the operation program by combining two or more of them.

(6) In the third embodiment, the display in which the execution time of the operation program before the modification and the execution time of the operation program after the modification are compared is displayed in the form of a bar graph (see FIG. 12). In addition to these bar graphs, or instead of the execution time of the operation program before modification, a bar graph showing the target time of the execution time of the operation program obtained from the target time of each work may be displayed. The bar graph showing the execution time of the operation program can be composed of a part showing the target time of each work.

(7) In the first embodiment, when the mouse 605 is left-clicked on the improvement plan Si, an instruction to reflect the improvement plan Si in the displayed operation program is given (see FIG. 7). ). However, the instruction that the improvement plan should be reflected in the displayed operation program can be executed by other methods.

For example, an instruction to reflect the improvement plan in the displayed operation program can be executed by pressing a button displayed on the screen. Further, the instruction that the improvement plan should be reflected in the displayed operation program can be executed by pressing one or more predetermined keys on the keyboard. In the above embodiment, other instructions given by left-clicking or right-clicking the mouse 605 can also be given in other embodiments including the above example.

D2. Other Embodiment 2:
In the above embodiment, two or more commands matching the two or more commands constituting the combination Ct2 of the commands stored in the RAM 630 are detected and highlighted from the received operation programs (FIG. 4). See Cd43 and Cd53 in FIG. 5). However, two or more commands constituting the command combination Ct2 may not be detected, and only the individual command Ct1 that affects the time required to execute the operation program may be detected.

D3. Other Embodiment 3:
In the above embodiment, the detected command is highlighted in the display showing the operation program of the edit screen De02 (see FIGS. 4 and 5). However, the detection of a particular command may be communicated to the operator by other means, such as audio output, rather than highlighting the display. The audio output may be audio output in the language of the detected command, or non-verbal sound output indicating that a particular command has been detected.

D4. Other Embodiment 4:
In the above embodiment, in the display representing the operation program, the displays S01 and S02 prompting improvement regarding the detected command are performed in association with the detected command (see FIGS. 6 and 7). However, the message prompting improvement may be conveyed to the operator by other methods such as voice output. The audio output may be audio output in a language that encourages improvement with respect to the detected command, or non-verbal sound output indicating that a particular command that can be deleted has been detected. In addition, at least a part of the detected command may be automatically corrected without being notified to the operator.

D5. Other Embodiment 5:
In the above embodiment, in the display representing the operation program, the improvement proposal Si regarding the detected command is displayed in association with the combination of the detected Wait command and the Vrun command (see FIG. 7). However, it is also possible that only the display prompting improvement is performed and the improvement plan is not presented. In such an aspect, the worker devises an improvement plan by himself / herself.

D6. Other Embodiment 6:
In the above embodiment, the proposed improvement Si regarding the detected command is displayed in a mode different from the command display Cd053 of the detected command. Specifically, the improvement plan Si is displayed in the balloon together with the display S02 prompting the improvement (see FIG. 7). However, the improvement plan may be described together with the original notation in the program list in the same manner as the original notation. The improvement plan may be described as a comment in the program list, for example, together with a comment indicating that the improvement plan is an improvement plan.

D7. Other Embodiment 7:
In the above embodiment, when the operation program is instructed to reflect the improvement plan Si, the improvement plan Si is reflected in the operation program (see FIGS. 7 and 8). However, the proposed improvement plan is not automatically reflected in the operation program, and may be input by the operator himself / herself using the keyboard.

D8. Other Embodiment 8:
In the first embodiment, the display Ddt1 and Ddt2 based on the target value and the execution time are performed for each work Op1 and Op2. Specifically, in the program list Dp09 displayed on the edit screen De02, the display of the difference in the execution time with respect to the target value is shown in association with each work (see FIG. 9). However, the display based on such a target value and the execution time may not be performed, and a display prompting improvement regarding the detected command and an improvement plan may be performed.

E. Yet another embodiment:
The present disclosure is not limited to the above-described embodiment, and can be realized in various forms without departing from the spirit thereof. For example, the present disclosure can also be realized by the following forms. The technical features in each of the embodiments described below correspond to the technical features in the above embodiments, in order to solve some or all of the problems of the present disclosure, or to partially or all of the effects of the present disclosure. It is possible to replace or combine as appropriate to achieve the above. Further, if the technical feature is not described as essential in the present specification, it can be appropriately deleted.

(1) According to one embodiment of the present disclosure, a device for creating a robot motion program is provided. This robot operation program creation device includes one or more commands, and is required to execute the operation program among the reception unit that receives the operation program that describes the work to be executed by the robot and the plurality of commands that can be executed by the robot. It includes a storage unit that stores some commands that affect time, and a detection unit that detects a command that matches the command stored in the storage unit from among the received operation programs.
In such an embodiment, it is possible to detect a command that affects the time required to execute the operation program from the received operation programs. Therefore, when the operator who creates the operation program of the robot generates or adjusts the operation program, the existence of such a command is notified to the operator so that the work efficiency of the robot can be actually improved. , It is possible to assist the worker in creating a robot motion program.

(2) In the creation device of the above embodiment, the storage unit is a combination of two or more commands among a plurality of commands that can be executed by the robot, and is a combination that affects the time required to execute the operation program. Is stored, and the detection unit detects two or more commands that match the two or more commands that constitute the combination stored in the storage unit from the received operation program. You can also do it.
In such an embodiment, it is possible to detect a combination of commands that affects the time required to execute the operation program from the received operation programs. Therefore, when the operator who creates the operation program of the robot generates or adjusts the operation program, he / she is notified of the existence of such a combination of commands so that the work efficiency of the robot can be improved. , Can support workers.

(3) The creation device of the above-described embodiment may further include a highlighting unit that highlights and displays the detected command in the display representing the operation program.
In such an embodiment, when the operator generates or adjusts the operation program, the location of the command in the operation program that affects the time required to execute the operation program can be presented to the operator. .. As a result, the operator can generate or adjust an operation program so as to actually improve the efficiency of the robot's work.

(4) In the creating device of the above-described embodiment, further, in the display representing the operation program, an improvement suggestion unit is provided in which a display prompting improvement regarding the detected command is performed in association with the detected command. You can also do it.
In such an aspect, when the operator who creates the operation program of the robot generates or adjusts the operation program, the operator affects the time required to execute the operation program based on the display prompting improvement. It is possible to generate or adjust an operation program for some commands given.

(5) An embodiment of the creation device of the above embodiment, further comprising an improvement plan presenting unit that displays an improvement plan for the detected command in association with the detected command in a display representing the operation program. You can also do it.
In such an aspect, when the operator who creates the operation program of the robot generates or adjusts the operation program, the operator affects the time required to execute the operation program based on the display of the improvement plan. The operation program can be easily improved for the given command.

(6) In the creation device of the above-described embodiment, the improvement plan presenting unit displays the detected improvement plan for the command in a display representing the operation program in a mode different from that of the detected command. You can also do it.
In such an embodiment, the operator can improve the operation program without confusing the detected command with the improvement plan thereof.

(7) In the creating device of the above embodiment, the improvement plan presenting unit receives an instruction that the improvement plan should be reflected in the displayed operation program, and reflects the improvement plan in the operation program. It can also be.
In such an aspect, the operator can easily improve the operation program for the command that affects the time required to execute the operation program by reflecting the displayed improvement plan in the operation program. can.

(8) In the creation device of the above embodiment, the reception unit receives a target value of the time required for the work, and the creation device further acquires the execution time of the work included in the operation program, and the work. Can be configured to include an evaluation unit for displaying based on the target value and the execution time.
In such an aspect, the worker can improve the operation program while recognizing the time to be shortened in order to achieve the target value by comparing the target value and the execution time.

(9) In the creating apparatus of the above embodiment, the detection unit is a part of the operation program, and the reception unit receives a part including one or more commands, and the operation program is received. A command matching the command stored in the storage unit is detected from a part of the part, and the improvement suggestion unit receives the part of the operation program in the receiving unit, and the improvement suggestion unit receives the part of the operation program. In the display representing the part, the display prompting the improvement regarding the detected command may be made in association with the detected command.
In such an aspect, the worker can proceed with the creation of the operation program while improving the operation program even during the creation of the operation program.

(10) In the creating apparatus of the above embodiment, the detection unit constitutes the combination stored in the storage unit from the received operation programs in a state where the reception unit receives the entire operation program. Two or more commands that match the two or more commands are detected, and the improvement suggestion unit is the detected state in the display representing the operation program in a state where the reception unit has received the entire operation program. It is also possible to make the display prompting the improvement regarding the combination in association with the detected two or more commands.
In such an embodiment, the display prompting the improvement regarding the combination of commands that affects the time required to execute the operation program, which is detected from the entire operation program, is performed in the display representing the operation program. Therefore, the operator can improve the operation program so as to optimize the entire operation program by referring to the display.

(11) According to another embodiment of the present disclosure, a method for improving a robot motion program is provided. The method for improving the operation program of the robot is as follows: (a) a step of accepting an operation program that includes one or more commands and describes a work to be executed by the robot, and (b) the operation program received by the robot. Among a plurality of commands that can be executed, some commands that affect the time required to execute the operation program and are stored in the storage unit, and a step of detecting a matching command are provided.

The present disclosure can also be realized in various forms other than the device for creating a robot motion program and the method for improving the robot motion program. For example, it can be realized in the form of a robot, a method for creating a robot, a method for creating an operation program for a robot, a computer program for realizing those methods, a non-temporary recording medium on which the computer program is recorded, and the like.

1 ... Robot system, 100 ... Robot, 110 ... Arm, 110a ... Arm element, 110b ... Arm element, 110d ... Arm element, 200 ... End effector, 300 ... Robot control device, 310 ... CPU, 330 ... RAM, 340 ... ROM , 410 ... Servo motor, 410o ... Output shaft, 420 ... Motor angle sensor, 510 ... Reducer, 510i ... Input shaft, 510o ... Output shaft, 600 ... Setting device, 602 ... Display, 604 ... Keyboard, 605 ... Mouse, 610 ... CPU, 611 ... Reception unit, 612 ... Detection unit, 613 ... Highlight display unit, 614 ... Improvement suggestion unit, 615 ... Improvement proposal presentation unit, 616 ... Evaluation unit, 630 ... RAM, 640 ... ROM, 700 ... Camera, B01 ... History display, B02 ... History display, Be ... Program execution button, Bs ... Simulation execution button, Cd041 ... Command display, Cd042 ... Command display, Cd043 ... Command display, Cd051 ... Command display, Cd052 ... Command display, Cd053 ... Command display, Cd081 ... Command display, Cd082 ... Command display, Ce1 ... End Clock command, Ce2 ... End Clock command, Cs1 ... Set Clock command, Cs2 ... Set Clock command, Ct1 ... Stored command, Ct2 ... Stored Combination of existing commands, Cts ... One or more stored commands, DI ... Interface screen, Ddt1 ... Display showing the difference in execution time, Ddt2 ... Display showing the difference in execution time, De02 ... Editing screen, Dp04 ... Program list , Dp05 ... Program list, Dp08 ... Program list, Dp09 ... Program list, Dp10 ... Program list, Drt1 ... Description to specify the target time, Drt2 ... Description to specify the target time, Ds ... Simulation screen, Hg10 ... Bar graph display, Hg11 ... Partial display of bar graph, Hg12 ... Partial display of bar graph, Hg13 ... Partial display of bar graph, Hg20 ... Display of bar graph, Hg21 ... Partial display of bar graph, Hg22 ... Partial display of bar graph , Hg23 ... Partial display of bar graph, Hs10 ... Comment text, Hs20 ... Comment text, J1 ... Joint, J2 ... Joint, J3 ... Joint, J4 ... Joint, Op1 ... Work, Op2 ... Work, S01 ... Display that encourages improvement , S02 ... Display to encourage improvement, Si ... Improvement plan, W01 ... Workpiece

Claims (11)

It is a device for creating robot operation programs.
A reception unit that accepts operation programs that include one or more commands and describe the work performed by the robot.
A storage unit that stores some of the commands that affect the time required to execute the operation program among the plurality of commands that can be executed by the robot.
A creating device including a detection unit that detects a command that matches the command stored in the storage unit from the received operation programs. The production device according to claim 1.
The storage unit further stores a combination of two or more commands among a plurality of commands that can be executed by the robot, which affects the time required to execute the operation program.
The detection unit is a creation device that detects two or more commands that match two or more commands constituting the combination stored in the storage unit from the received operation program. The production device according to claim 1 or 2, further comprising:
A creation device including a highlighting unit that highlights and displays the detected command in a display representing the operation program. The creation device according to any one of claims 1 to 3, and further.
A creation device including an improvement suggestion unit, which displays an improvement indicating the detected command in a display representing the operation program in association with the detected command. The production device according to any one of claims 1 to 4, further comprising:
A creation device including an improvement plan presenting unit that displays an improvement plan related to the detected command in association with the detected command in the display representing the operation program. The creation device according to claim 5.
The improvement plan presenting unit is a creation device that displays an improvement plan for the detected command in a display representing the operation program in a mode different from the detected command. The production device according to claim 5 or 6.
The improvement plan presenting unit receives an instruction that the improvement plan should be reflected in the displayed operation program, and reflects the improvement plan in the operation program. The creation device according to any one of claims 1 to 7.
The reception unit receives the target value of the time required for the work, and receives the target value.
The creation device further
A creation device including an evaluation unit that acquires the execution time of the work included in the operation program and displays the work based on the target value and the execution time. The production device according to claim 4.
The detection unit is a part of the operation program, and in a state where the reception unit receives a part including one or more commands, the storage unit receives the part of the operation program. Detects a command that matches the stored command,
In the state where the receiving unit receives the part of the operation program, the improvement suggestion unit detects a display prompting the improvement regarding the detected command in the display representing the part of the operation program. A creation device that is performed in association with the above command. The creation device according to claim 4, which is directly or indirectly dependent on claim 2.
The detection unit coincides with the two or more commands constituting the combination stored in the storage unit from the received operation programs in a state where the entire operation program is received by the reception unit. Detecting the above command,
In the state where the reception unit has received the entire operation program, the improvement suggestion unit displays the display prompting the improvement regarding the detected combination in the display representing the operation program, and the two or more commands detected. A creation device that is associated with. It ’s a way to improve the robot's motion program.
(A) A process of accepting an operation program that includes one or more commands and describes the work to be executed by the robot.
(B) Among the plurality of commands that can be executed by the robot, some of the commands that affect the time required to execute the operation program and are stored in the storage unit from the received operation programs. A method comprising the steps of finding a matching command.

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